Jeff Weber wrote:
> I have a need for task t1 to switch task t2 to and from primary mode,
> using the native API.  The rt_task_set_mode() API does not have an
> argument for the target task, and assumes the current task.  How can I
> initiate a 3rd party task mode switch?

Umm, could you explain why you need this? Sounds a bit weird to me.

We basically have this feature to support RTDM drivers that provide
mode-dependent (overloaded) services like resource allocation from Linux
vs. real-time pools. Normally, you should not need to touch the mode
explicitly, Xenomai will switch for you when required and feasible.

> 
> On a related note, the task info returned from rt_task_inquire() does
> not indicate task mode switches in the corresponding T_PRIMARY (0x200)
> bit, which is the bit used to command the mode switch.  However, a mode
> switch can be seen in the 0x100 status bit, which corresponds to the
> XNRELAX bit, (not in the public native/task.h API).  What's the best way
> to inquire if an arbitrary task is in primary or secondary mode?

I would say there is no official way yet, but I think we should create
one, likely by translating XNRELAX to the native-specific T_PRIMARY
flag. Should be trivial.

> 
> I am using Xenomai-2.2.0.
> 
> thanks,
> 	Jeff Weber
> 

Jan